def test_parametrize_control_wrong_size(model):
model.t = SX.sym('t')
model.create_control('u', 1)
# wrong size for expr
k = SX.sym("k", 2)
with pytest.raises(ValueError):
model.parametrize_control(model.u, k * model.t, k)
def test_parametrize_control_already_parametrize(model):
model.t = SX.sym('t')
model.create_control('u', 3)
# test parametrize a control already parametrized
model.x = SX.sym('x')
k = SX.sym("k")
model.parametrize_control(model.u[0], -k * model.x[0], k)
with pytest.raises(ValueError):
model.parametrize_control(model.u[0], k * model.t, k)
def test_parametrize_control_time_dependent_polynomial(model):
model.tau = SX.sym('tau')
model.create_control('u', 3)
# Test parametrize by a time dependent polynomial
u_par = SX.sym("u_par", 3, 2)
u_expr = model.tau * u_par[:, 0] + (1 - model.tau) * u_par[:, 1]
model.parametrize_control(model.u, u_expr, vec(u_par))
assert is_equal(model.u_par, vec(u_par))
assert is_equal(model.u_expr, u_expr, 30)
for ind in range(model.n_u):
assert is_equal(model._parametrized_controls[ind], model.u[ind])
def test_control_is_parametrized(model: ControlMixin):
model.create_control('u', 4)
assert not model.control_is_parametrized(model.u[0])
# error multiple controls are passed
with pytest.raises(ValueError):
model.control_is_parametrized(model.u)
k = SX.sym('k')
model.x = SX.sym('x')
model.parametrize_control(model.u[0], -k * model.x[0], k)
assert model.control_is_parametrized(model.u[0])
def test_include_theta(model):
new_theta_1 = SX.sym("new_theta")
new_theta_2 = SX.sym("new_theta_2", 2)
model_n_theta = model.n_theta
model.include_theta(new_theta_1)
assert model.n_theta == model_n_theta + 1
assert is_equal(model.theta[-1], new_theta_1)
model.include_theta(new_theta_2)
assert model.n_theta == model_n_theta + 1 + 2
assert is_equal(model.theta[-3], new_theta_1)
assert is_equal(model.theta[-2:], new_theta_2)
def test_include_parameter(model):
new_p_1 = SX.sym("new_p")
new_p_2 = SX.sym("new_p_2", 2)
model_n_p = model.n_p
model.include_parameter(new_p_1)
assert model.n_p == model_n_p + 1
assert is_equal(model.p[-1], new_p_1)
model.include_parameter(new_p_2)
assert model.n_p == model_n_p + 1 + 2
assert is_equal(model.p[-3], new_p_1)
assert is_equal(model.p[-2:], new_p_2)
def test_include_control(model: ControlMixin):
new_u_1 = SX.sym("new_u")
new_u_2 = SX.sym("new_u_2", 2)
model_n_u = model.n_u
model.include_control(new_u_1)
assert model.n_u == model_n_u + 1
assert (is_equal(model.u[-1], new_u_1))
model.include_control(new_u_2)
assert model.n_u == model_n_u + 1 + 2
assert is_equal(model.u[-3], new_u_1)
assert is_equal(model.u[-2:], new_u_2)
def test_include_algebraic(model):
new_y_1 = SX.sym("new_y")
new_y_2 = SX.sym("new_y_2", 2)
model_n_y = model.n_y
alg = new_y_1 - 3
model.include_algebraic(new_y_1, alg=alg)
assert model.n_y == model_n_y + 1
assert is_equal(model.y[-1], new_y_1)
assert is_equal(model.alg[-1], alg, 10)
model.include_algebraic(new_y_2)
assert model.n_y == model_n_y + 1 + 2
assert is_equal(model.y[-3], new_y_1)
assert is_equal(model.y[-2:], new_y_2)
def test_replace_variable_u_par(model):
# replace a u_par
new_u_par = SX.sym("new_u", model.n_u)
new_u_expr = new_u_par
model.replace_variable(model.u_par, new_u_par)
assert is_equal(model.u_expr, new_u_expr, 30)
def create_state(self, name="x", size=1):
"""
Create a new state with the name "name" and size "size".
Size can be an int or a tuple (e.g. (2,2)). However, the new state will be vectorized (casadi.vec) to be
included in the state vector (model.x).
:param name: str
:param size: int|tuple
:return:
"""
if callable(getattr(self, 'name_variable', None)):
name = self.name_variable(name)
new_x = SX.sym(name, size)
new_x_0 = SX.sym(name + "_0_sym", size)
self.include_state(vec(new_x), ode=None, x_0=vec(new_x_0))
return new_x
def test_parametrize_control_list_input(model):
model.tau = SX.sym('tau')
model.create_control('u', 3)
# Test for list inputs, parametrize by a time dependent polynomial
u_par = SX.sym("u_par", 3, 2)
u_expr = model.tau * u_par[:, 0] + (1 - model.tau) * u_par[:, 1]
model.parametrize_control(
[model.u[ind] for ind in range(model.n_u)],
[u_expr[ind] for ind in range(model.n_u)],
[vec(u_par)[ind] for ind in range(u_par.numel())],
)
assert is_equal(model.u_par, vec(u_par))
assert is_equal(model.u_expr, u_expr, 30)
for ind in range(model.n_u):
assert is_equal(model._parametrized_controls[ind], model.u[ind])
def test_include_state(model):
new_x_1 = SX.sym("new_x")
new_x_2 = SX.sym("new_x_2", 2)
model_n_x = model.n_x
new_x_0_1 = model.include_state(new_x_1)
assert model.n_x == model_n_x + 1
assert model.x_0.numel() == model_n_x + 1
assert new_x_0_1.numel() == new_x_1.numel()
assert is_equal(model.x[-1], new_x_1)
model_n_x = model.n_x
new_x_0_2 = model.include_state(new_x_2)
assert model.n_x == model_n_x + 2
assert model.x_0.numel(), model_n_x + 2
assert new_x_0_2.numel() == new_x_2.numel()
assert is_equal(model.x[-3], new_x_1)
assert is_equal(model.x[-2:], new_x_2)
def test_replace_variable_alg(model: AlgebraicMixin):
y = model.create_algebraic_variable('y', 3)
model.include_equations(alg=[-y])
# replace y
original = model.y[1]
replacement = SX.sym("new_y", original.numel())
model.replace_variable(original, replacement)
assert not depends_on(model.alg, original)
assert depends_on(model.alg, replacement)
def test_replace_variable_state(model: StateMixin):
x = model.create_state('x', 3)
model.include_equations(ode=[-x], x=x)
# replace x
original = model.x[1]
replacement = SX.sym("new_x", original.numel())
model.replace_variable(original, replacement)
assert not depends_on(model.ode, original)
assert depends_on(model.ode, replacement)
def create_theta(self, name="theta", size=1):
"""
Create a new parameter name "name" and size "size"
:param name: str
:param size: int
:return:
"""
if callable(getattr(self, 'name_variable', None)):
name = self.name_variable(name)
new_theta = SX.sym(name, size)
self.include_theta(vec(new_theta))
return new_theta
def create_algebraic_variable(self, name="y", size=1):
"""
Create a new algebraic variable with the name "name" and size "size".
Size can be an int or a tuple (e.g. (2,2)). However, the new algebraic variable will be vectorized (casadi.vec)
to be included in the algebraic vector (model.y).
:param str name:
:param int||tuple size:
:return:
"""
if callable(getattr(self, 'name_variable', None)):
name = self.name_variable(name)
new_y = SX.sym(name, size)
self.include_algebraic(vec(new_y))
return new_y
def create_control(self, name="u", size=1):
"""
Create a new control variable name "name" and size "size".
Size can be an int or a tuple (e.g. (2,2)). However, the new control variable will be vectorized (casadi.vec)
to be included in the control vector (model.u).
:param name: str
:param size: int
:return:
"""
if callable(getattr(self, 'name_variable', None)):
name = self.name_variable(name)
new_u = SX.sym(name, size)
self.include_control(vec(new_u))
return new_u
def include_state(self, var, ode=None, x_0=None):
n_x = var.numel()
self.x = vertcat(self.x, var)
if x_0 is None:
x_0 = vertcat(*[SX.sym(var_i.name()) for var_i in var.nz])
self.x_0 = vertcat(self.x_0, x_0)
# crate entry for included state
for ind, x_i in enumerate(var.nz):
if x_i in self._ode:
raise ValueError(f'State "{x_i}" already in this model')
self._ode[x_i] = None
if ode is not None:
self.include_equations(ode=ode, x=var)
return x_0
def test_n_p(model):
assert model.n_p == 0
model.p = SX.sym("p", 4)
assert model.n_p == 4
def test_n_theta(model):
assert model.n_theta == 0
model.theta = SX.sym("theta", 4)
assert model.n_theta == 4
